Balancing control of a kind of wire-moving robot

Mo, Xinhu; Song, Yuan; Zhang, Ying

doi:10.1109/icinfa.2015.7279662

Cited by 4 publications

(6 citation statements)

References 3 publications

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“…B as the supporting frame, 2 B as the single wheel, 3 B as the arms, 4 B as the link pole and 5 B as the rotational pole. Set the coordinate system (see Fig.…”

Section: Appointmentioning

confidence: 99%

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The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Huang¹,

Chen²,

Wang³

et al. 2017

dtetr

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Abstract. This paper focused on a single wheel robot that runs on a flexible wire, and the principal consideration was the influence of its swinging arms on the balanced dynamics of the system. The robot was designed with two swinging arms and a rotational pole to imitate a real human wire walker. Under the pure rolling condition of the single wheel, a dynamical model was developed for the system by Lagrange equation. With the model, balanced motions under the regulation of the rotational pole coorperating with the swinging arms were investigated. The inverse dynamics simulations showed that, the different swinging arms action would correspond to different driving input torques, but there would be a trough maximum torque at a certain feedback action of the swinging arms.

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“…B as the supporting frame, 2 B as the single wheel, 3 B as the arms, 4 B as the link pole and 5 B as the rotational pole. Set the coordinate system (see Fig.…”

Section: Appointmentioning

confidence: 99%

“…proposed a two wheels wire-walking robot that was balanced with a mechanical gyroscope. While in [2,3,4,5,6], Lu etc. presented a wire-walking robot balancing by a rotating pole.…”

Section: Introductionmentioning

confidence: 99%

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Huang¹,

Chen²,

Wang³

et al. 2017

dtetr

View full text Add to dashboard Cite

show abstract

“…Considering the principle of the relative motion, the velocities of the COM of 1 B , 3 B , 4 B and 5 B can be calculated as:…”

Section: B Kinetic Modelmentioning

confidence: 99%

“…The two swing arms and the link pole form a parallelogram mechanism, so its angular velocity satisfies: (4) (1)…”

Section: B Kinetic Modelmentioning

confidence: 99%

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Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

Huang

Chen²,

Wang

et al. 2017

Proceedings of the 2017 International Conference on Applied Mathematics, Modeling and Simulation (AMMS 2017)

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Abstract-In order to investigate the principles of a wire walker who maintains balance by rotating or moving a pole left and right, a novel single wheel robot that can runs on a flexible wire was designed and its dynamics was studied. The robot features a couple of parallel swinging arms and a rotational pole. Under the precondition of pure rolling of the single wheel that runs on a flexible wire, a dynamical model for the system was developed by use of Lagrange equation. The results illustrated that the robot was an under-actuated system consisting of seven DOF (degree of freedom) and there was three driving-torque inputs in the system. By using the model, an inverse dynamics simulation of balanced moving was performed, and through the comparisons of the amount of driving work and system's energy, the results of the model analysis was testified.

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Sliding mode control of a wire-moving robot based on Hurwitz stability

Song

2016

2016 IEEE International Conference on Information and Automation (ICIA)

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Balancing control of a kind of wire-moving robot

Cited by 4 publications

References 3 publications

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

Sliding mode control of a wire-moving robot based on Hurwitz stability

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